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<div class="title">trajectory_generator_diff_drive.h</div>  </div>
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<a href="trajectory__generator__diff__drive_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#ifndef __TRAJECTORY_GENERATOR_DIFF_DRIVE_H</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#define __TRAJECTORY_GENERATOR_DIFF_DRIVE_H</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="motion__model__diff__drive_8h.html">trajectory_generator/motion_model_diff_drive.h</a>&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="class_trajectory_generator_diff_drive.html">   13</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_trajectory_generator_diff_drive.html">TrajectoryGeneratorDiffDrive</a></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;{</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <a class="code" href="class_trajectory_generator_diff_drive.html#a939072bc45d395d921f9d0cbc8b996bc">TrajectoryGeneratorDiffDrive</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_trajectory_generator_diff_drive.html#abf1ecee3f5b1c040f7996c82d18bac9d">set_optimization_param</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>);</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_trajectory_generator_diff_drive.html#a04aec94601d78021e3ebe213c838ae07">set_motion_param</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>);</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_trajectory_generator_diff_drive.html#a20fcfdb1529a0be196c53f01c1c75b6b">set_verbose</a>(<span class="keywordtype">bool</span>);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordtype">double</span> <a class="code" href="class_trajectory_generator_diff_drive.html#adbac15c69a69a2b5bd3a02805a7ac1c5">generate_optimized_trajectory</a>(<span class="keyword">const</span> Eigen::Vector3d&amp;, <span class="keyword">const</span> <a class="code" href="class_motion_model_diff_drive_1_1_control_params.html">MotionModelDiffDrive::ControlParams</a>&amp;, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">int</span>, <a class="code" href="class_motion_model_diff_drive_1_1_control_params.html">MotionModelDiffDrive::ControlParams</a>&amp;, <a class="code" href="class_motion_model_diff_drive_1_1_trajectory.html">MotionModelDiffDrive::Trajectory</a>&amp;);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_trajectory_generator_diff_drive.html#a1840e434a390a49e6eb9597227d0c95a">get_jacobian</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <a class="code" href="class_motion_model_diff_drive_1_1_control_params.html">MotionModelDiffDrive::ControlParams</a>&amp;, <span class="keyword">const</span> Eigen::Vector3d&amp;, Eigen::Matrix3d&amp;);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_trajectory_generator_diff_drive.html#aee1b2f18deef53b939b5f4a7257dd02e">calculate_scale_factor</a>(<span class="keywordtype">double</span>, <span class="keywordtype">double</span>, <span class="keyword">const</span> Eigen::Vector3d&amp;, Eigen::Vector3d&amp;, <a class="code" href="class_motion_model_diff_drive_1_1_control_params.html">MotionModelDiffDrive::ControlParams</a>&amp;, <a class="code" href="class_motion_model_diff_drive_1_1_trajectory.html">MotionModelDiffDrive::Trajectory</a>&amp;, Eigen::Vector3d&amp;);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordtype">double</span> MAX_YAWRATE;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <a class="code" href="class_motion_model_diff_drive.html">MotionModelDiffDrive</a> model;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    Eigen::Vector3d h;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordtype">bool</span> verbose;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;};</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="preprocessor">#endif //__TRAJECTORY_GENERATOR_DIFF_DRIVE_H</span></div>
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<div class="ttc" id="aclass_trajectory_generator_diff_drive_html_aee1b2f18deef53b939b5f4a7257dd02e"><div class="ttname"><a href="class_trajectory_generator_diff_drive.html#aee1b2f18deef53b939b5f4a7257dd02e">TrajectoryGeneratorDiffDrive::calculate_scale_factor</a></div><div class="ttdeci">void calculate_scale_factor(double, double, const Eigen::Vector3d &amp;, Eigen::Vector3d &amp;, MotionModelDiffDrive::ControlParams &amp;, MotionModelDiffDrive::Trajectory &amp;, Eigen::Vector3d &amp;)</div><div class="ttdoc">Search coefficient to reduce cost.</div><div class="ttdef"><b>Definition:</b> trajectory_generator_diff_drive.cpp:153</div></div>
<div class="ttc" id="aclass_trajectory_generator_diff_drive_html"><div class="ttname"><a href="class_trajectory_generator_diff_drive.html">TrajectoryGeneratorDiffDrive</a></div><div class="ttdoc">Class for generating optimized trajectory.</div><div class="ttdef"><b>Definition:</b> trajectory_generator_diff_drive.h:13</div></div>
<div class="ttc" id="aclass_trajectory_generator_diff_drive_html_a20fcfdb1529a0be196c53f01c1c75b6b"><div class="ttname"><a href="class_trajectory_generator_diff_drive.html#a20fcfdb1529a0be196c53f01c1c75b6b">TrajectoryGeneratorDiffDrive::set_verbose</a></div><div class="ttdeci">void set_verbose(bool)</div><div class="ttdoc">Set verbose output.</div><div class="ttdef"><b>Definition:</b> trajectory_generator_diff_drive.cpp:21</div></div>
<div class="ttc" id="aclass_trajectory_generator_diff_drive_html_abf1ecee3f5b1c040f7996c82d18bac9d"><div class="ttname"><a href="class_trajectory_generator_diff_drive.html#abf1ecee3f5b1c040f7996c82d18bac9d">TrajectoryGeneratorDiffDrive::set_optimization_param</a></div><div class="ttdeci">void set_optimization_param(const double, const double, const double)</div><div class="ttdoc">Set optimization parameters used in optimization.</div><div class="ttdef"><b>Definition:</b> trajectory_generator_diff_drive.cpp:10</div></div>
<div class="ttc" id="aclass_trajectory_generator_diff_drive_html_a04aec94601d78021e3ebe213c838ae07"><div class="ttname"><a href="class_trajectory_generator_diff_drive.html#a04aec94601d78021e3ebe213c838ae07">TrajectoryGeneratorDiffDrive::set_motion_param</a></div><div class="ttdeci">void set_motion_param(const double, const double, const double, const double, const double, const double)</div><div class="ttdoc">Set motion parameters.</div><div class="ttdef"><b>Definition:</b> trajectory_generator_diff_drive.cpp:15</div></div>
<div class="ttc" id="aclass_motion_model_diff_drive_1_1_trajectory_html"><div class="ttname"><a href="class_motion_model_diff_drive_1_1_trajectory.html">MotionModelDiffDrive::Trajectory</a></div><div class="ttdoc">Class representing a trajectory.</div><div class="ttdef"><b>Definition:</b> motion_model_diff_drive.h:139</div></div>
<div class="ttc" id="aclass_trajectory_generator_diff_drive_html_a939072bc45d395d921f9d0cbc8b996bc"><div class="ttname"><a href="class_trajectory_generator_diff_drive.html#a939072bc45d395d921f9d0cbc8b996bc">TrajectoryGeneratorDiffDrive::TrajectoryGeneratorDiffDrive</a></div><div class="ttdeci">TrajectoryGeneratorDiffDrive(void)</div><div class="ttdoc">Contructor.</div><div class="ttdef"><b>Definition:</b> trajectory_generator_diff_drive.cpp:3</div></div>
<div class="ttc" id="aclass_trajectory_generator_diff_drive_html_adbac15c69a69a2b5bd3a02805a7ac1c5"><div class="ttname"><a href="class_trajectory_generator_diff_drive.html#adbac15c69a69a2b5bd3a02805a7ac1c5">TrajectoryGeneratorDiffDrive::generate_optimized_trajectory</a></div><div class="ttdeci">double generate_optimized_trajectory(const Eigen::Vector3d &amp;, const MotionModelDiffDrive::ControlParams &amp;, const double, const double, const int, MotionModelDiffDrive::ControlParams &amp;, MotionModelDiffDrive::Trajectory &amp;)</div><div class="ttdoc">Generate Optimized trajectory.</div><div class="ttdef"><b>Definition:</b> trajectory_generator_diff_drive.cpp:26</div></div>
<div class="ttc" id="amotion__model__diff__drive_8h_html"><div class="ttname"><a href="motion__model__diff__drive_8h.html">motion_model_diff_drive.h</a></div></div>
<div class="ttc" id="aclass_motion_model_diff_drive_html"><div class="ttname"><a href="class_motion_model_diff_drive.html">MotionModelDiffDrive</a></div><div class="ttdoc">Trajectory generation with motion model of differential drive robots.</div><div class="ttdef"><b>Definition:</b> motion_model_diff_drive.h:17</div></div>
<div class="ttc" id="aclass_trajectory_generator_diff_drive_html_a1840e434a390a49e6eb9597227d0c95a"><div class="ttname"><a href="class_trajectory_generator_diff_drive.html#a1840e434a390a49e6eb9597227d0c95a">TrajectoryGeneratorDiffDrive::get_jacobian</a></div><div class="ttdeci">void get_jacobian(const double, const MotionModelDiffDrive::ControlParams &amp;, const Eigen::Vector3d &amp;, Eigen::Matrix3d &amp;)</div><div class="ttdoc">Calculate jacobian.</div><div class="ttdef"><b>Definition:</b> trajectory_generator_diff_drive.cpp:121</div></div>
<div class="ttc" id="aclass_motion_model_diff_drive_1_1_control_params_html"><div class="ttname"><a href="class_motion_model_diff_drive_1_1_control_params.html">MotionModelDiffDrive::ControlParams</a></div><div class="ttdoc">Class containing VelocityParams and AngularVelocityParams.</div><div class="ttdef"><b>Definition:</b> motion_model_diff_drive.h:117</div></div>
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